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<div class="title">hv_papazov.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/hv/hv_papazov.h&gt;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ModelT, <span class="keyword">typename</span> SceneT&gt;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <a class="code" href="classpcl_1_1_papazov_h_v.html">pcl::PapazovHV&lt;ModelT, SceneT&gt;::initialize</a> ()</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  {</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="comment">//clear stuff</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    recognition_models_.clear ();</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    graph_id_model_map_.clear ();</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    conflict_graph_.clear ();</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    explained_by_RM_.clear ();</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    points_explained_by_rm_.clear ();</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">// initialize mask...</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    mask_.resize (complete_models_.size ());</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; complete_models_.size (); i++)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      mask_[i] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="comment">// initialize explained_by_RM</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    explained_by_RM_.resize (scene_cloud_downsampled_-&gt;points.size ());</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    points_explained_by_rm_.resize (scene_cloud_downsampled_-&gt;points.size ());</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">// initalize model</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> m = 0; m &lt; complete_models_.size (); m++)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      boost::shared_ptr &lt; RecognitionModel &gt; recog_model (<span class="keyword">new</span> RecognitionModel);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="comment">// voxelize model cloud</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      recog_model-&gt;cloud_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;ModelT&gt;</a>);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      recog_model-&gt;complete_cloud_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;ModelT&gt;</a>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      recog_model-&gt;id_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (m);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;ModelT&gt;</a> voxel_grid;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      voxel_grid.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (visible_models_[m]);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      voxel_grid.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (resolution_, resolution_, resolution_);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      voxel_grid.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*(recog_model-&gt;cloud_));</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;ModelT&gt;</a> voxel_grid_complete;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      voxel_grid_complete.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (complete_models_[m]);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      voxel_grid_complete.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a> (resolution_, resolution_, resolution_);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      voxel_grid_complete.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a> (*(recog_model-&gt;complete_cloud_));</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      std::vector&lt;int&gt; explained_indices;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      std::vector&lt;int&gt; outliers;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      std::vector&lt;float&gt; nn_distances;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; recog_model-&gt;cloud_-&gt;points.size (); i++)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordflow">if</span> (!scene_downsampled_tree_-&gt;radiusSearch (recog_model-&gt;cloud_-&gt;points[i], inliers_threshold_, nn_indices, nn_distances,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                                    std::numeric_limits&lt;int&gt;::max ()))</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;          outliers.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i));</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; nn_distances.size (); k++)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;            explained_indices.push_back (nn_indices[k]); <span class="comment">//nn_indices[k] points to the scene</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      std::sort (explained_indices.begin (), explained_indices.end ());</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      explained_indices.erase (std::unique (explained_indices.begin (), explained_indices.end ()), explained_indices.end ());</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      recog_model-&gt;bad_information_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (outliers.size ());</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordflow">if</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (recog_model-&gt;bad_information_) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (recog_model-&gt;complete_cloud_-&gt;points.size ()))</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          &lt;= penalty_threshold_ &amp;&amp; (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (explained_indices.size ())</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (recog_model-&gt;complete_cloud_-&gt;points.size ())) &gt;= support_threshold_)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        recog_model-&gt;explained_ = explained_indices;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        recognition_models_.push_back (recog_model);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="comment">// update explained_by_RM_, add 1</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; explained_indices.size (); i++)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          explained_by_RM_[explained_indices[i]]++;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          points_explained_by_rm_[explained_indices[i]].push_back (recog_model);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        mask_[m] = <span class="keyword">false</span>; <span class="comment">// the model didnt survive the sequential check...</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ModelT, <span class="keyword">typename</span> SceneT&gt;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <a class="code" href="classpcl_1_1_papazov_h_v.html">pcl::PapazovHV&lt;ModelT, SceneT&gt;::nonMaximaSuppresion</a> ()</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// iterate over all vertices of the graph and check if they have a better neighbour, then remove that vertex</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::graph_traits&lt;Graph&gt;::vertex_iterator VertexIterator;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    VertexIterator vi, vi_end, next;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    boost::tie (vi, vi_end) = boost::vertices (conflict_graph_);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">for</span> (next = vi; next != vi_end; next++)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">const</span> <span class="keyword">typename</span> Graph::vertex_descriptor v = boost::vertex (*next, conflict_graph_);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">typename</span> boost::graph_traits&lt;Graph&gt;::adjacency_iterator ai;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">typename</span> boost::graph_traits&lt;Graph&gt;::adjacency_iterator ai_end;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      boost::shared_ptr &lt; RecognitionModel &gt; current = <span class="keyword">static_cast&lt;</span>boost::shared_ptr&lt;RecognitionModel&gt; <span class="keyword">&gt;</span> (graph_id_model_map_[int (v)]);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">bool</span> a_better_one = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordflow">for</span> (boost::tie (ai, ai_end) = boost::adjacent_vertices (v, conflict_graph_); (ai != ai_end) &amp;&amp; !a_better_one; ++ai)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        boost::shared_ptr &lt; RecognitionModel &gt; neighbour = <span class="keyword">static_cast&lt;</span>boost::shared_ptr&lt;RecognitionModel&gt; <span class="keyword">&gt;</span> (graph_id_model_map_[int (*ai)]);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordflow">if</span> ((neighbour-&gt;explained_.size () &gt;= current-&gt;explained_.size ()) &amp;&amp; mask_[neighbour-&gt;id_])</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          a_better_one = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keywordflow">if</span> (a_better_one)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        mask_[current-&gt;id_] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ModelT, <span class="keyword">typename</span> SceneT&gt;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <a class="code" href="classpcl_1_1_papazov_h_v.html">pcl::PapazovHV&lt;ModelT, SceneT&gt;::buildConflictGraph</a> ()</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="comment">// create vertices for the graph</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; (recognition_models_.size ()); i++)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">const</span> <span class="keyword">typename</span> Graph::vertex_descriptor v = boost::add_vertex (recognition_models_[i], conflict_graph_);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      graph_id_model_map_[int (v)] = <span class="keyword">static_cast&lt;</span>boost::shared_ptr&lt;RecognitionModel&gt; <span class="keyword">&gt;</span> (recognition_models_[i]);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">// iterate over the remaining models and check for each one if there is a conflict with another one</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; recognition_models_.size (); i++)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = i; j &lt; recognition_models_.size (); j++)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordflow">if</span> (i != j)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;          <span class="keywordtype">float</span> n_conflicts = 0.f;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;          <span class="comment">// count scene points explained by both models</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; explained_by_RM_.size (); k++)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;          {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            <span class="keywordflow">if</span> (explained_by_RM_[k] &gt; 1)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;              <span class="comment">// this point could be a conflict</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;              <span class="keywordtype">bool</span> i_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;              <span class="keywordtype">bool</span> j_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;              <span class="keywordtype">bool</span> both_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;              <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> kk = 0; (kk &lt; points_explained_by_rm_[k].size ()) &amp;&amp; !both_found; kk++)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;              {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                <span class="keywordflow">if</span> (points_explained_by_rm_[k][kk]-&gt;id_ == recognition_models_[i]-&gt;id_)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                  i_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                <span class="keywordflow">if</span> (points_explained_by_rm_[k][kk]-&gt;id_ == recognition_models_[j]-&gt;id_)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                  j_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                <span class="keywordflow">if</span> (i_found &amp;&amp; j_found)</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                  both_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;              }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;              <span class="keywordflow">if</span> (both_found)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                n_conflicts += 1.f;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          <span class="comment">// check if number of points is big enough to create a conflict</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          <span class="keywordtype">bool</span> add_conflict = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          add_conflict = ((n_conflicts / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (recognition_models_[i]-&gt;complete_cloud_-&gt;points.size ())) &gt; conflict_threshold_size_)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;              || ((n_conflicts / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (recognition_models_[j]-&gt;complete_cloud_-&gt;points.size ())) &gt; conflict_threshold_size_);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          <span class="keywordflow">if</span> (add_conflict)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            boost::add_edge (i, j, conflict_graph_);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ModelT, <span class="keyword">typename</span> SceneT&gt;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <a class="code" href="classpcl_1_1_papazov_h_v.html">pcl::PapazovHV&lt;ModelT, SceneT&gt;::verify</a> ()</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    initialize ();</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    buildConflictGraph ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    nonMaximaSuppresion ();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PapazovHV(T1,T2) template class PCL_EXPORTS pcl::PapazovHV&lt;T1,T2&gt;;</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_papazov_h_v_html"><div class="ttname"><a href="classpcl_1_1_papazov_h_v.html">pcl::PapazovHV</a></div><div class="ttdoc">A hypothesis verification method proposed in &quot;An Efficient RANSAC for 3D Object Recognition in Noisy ...</div><div class="ttdef"><b>Definition:</b> hv_papazov.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; ModelT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
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